Consensus of high-order multi-agent systems with switching topologies

In this paper, a consensus problem is investigated for high-order multi-agent systems with switching communication networks, through which only output information instead of full-state information can be transmitted to neighbors. Based on self-state-feedback and neighbor-output-feedback, a new consensus protocol is proposed, which can realize arbitrary convergence rate. Furthermore, as an application, a nonlinear heading consensus protocol is designed for a multi-vehicle model. Finally, numerical simulations are given to illustrate the theoretical results.